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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 11:33:35 +08:00
Move PWM rate configuration, etc. into a separate utility and out of the individual drivers.
This commit is contained in:
px4dev
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Build the pwm tool.
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#
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APPNAME = pwm
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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include $(APPDIR)/mk/app.mk
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@@ -0,0 +1,207 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file pwm.c
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*
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* PWM servo output configuration and monitoring tool.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/mount.h>
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#include <sys/ioctl.h>
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#include <sys/stat.h>
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#include <nuttx/i2c.h>
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#include <nuttx/mtd.h>
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#include <nuttx/fs/nxffs.h>
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#include <nuttx/fs/ioctl.h>
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#include <arch/board/board.h>
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#include "systemlib/systemlib.h"
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#include "systemlib/err.h"
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#include "drivers/drv_pwm_output.h"
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static void usage(const char *reason);
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__EXPORT int pwm_main(int argc, char *argv[]);
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static void
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usage(const char *reason)
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{
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if (reason != NULL)
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warnx("%s", reason);
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errx(1,
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"usage:\n"
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"pwm [-v] [-d <device>] [-u <alt_rate>] [-c <alt_channel_mask>] [arm|disarm] [<channel_value> ...]\n"
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" -v Print information about the PWM device\n"
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" <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n"
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" <alt_rate> PWM update rate for channels in <alt_channel_mask>\n"
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" <alt_channel_mask> Bitmask of channels to update at the alternate rate\n"
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" arm | disarm Arm or disarm the ouptut\n"
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" <channel_value>... PWM output values in microseconds to assign to the PWM outputs\n");
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}
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int
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pwm_main(int argc, char *argv[])
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{
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const char *dev = PWM_OUTPUT_DEVICE_PATH;
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unsigned alt_rate = 0;
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uint32_t alt_channels;
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bool alt_channels_set = false;
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bool print_info = false;
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int ch;
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int ret;
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char *ep;
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while ((ch = getopt(argc, argv, "c:d:u:v")) != EOF) {
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switch (ch) {
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case 'c':
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alt_channels = strtol(optarg, &ep, 0);
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if (*ep != '\0')
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usage("bad alt_channel_mask value");
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alt_channels_set = true;
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break;
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case 'd':
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dev = optarg;
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break;
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case 'u':
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alt_rate = strtol(optarg, &ep, 0);
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if (*ep != '\0')
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usage("bad alt_rate value");
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case 'v':
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print_info = true;
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break;
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default:
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usage(NULL);
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}
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}
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argc -= optind;
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argv += optind;
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/* open for ioctl only */
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int fd = open(dev, 0);
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if (fd < 0)
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err(1, "can't open %s", dev);
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/* change alternate PWM rate */
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if (alt_rate > 0) {
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ret = ioctl(fd, PWM_SERVO_SET_UPDATE_RATE, alt_rate);
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if (ret != OK)
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err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)");
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}
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/* assign alternate rate to channels */
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if (alt_channels_set) {
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ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, alt_channels);
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if (ret != OK)
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err(1, "PWM_SERVO_SELECT_UPDATE_RATE (check mask vs. device capabilities)");
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}
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/* iterate remaining arguments */
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unsigned channel = 0;
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while (argc--) {
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const char *arg = argv[0];
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argv++;
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if (!strcmp(arg, "arm")) {
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ret = ioctl(fd, PWM_SERVO_ARM, 0);
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if (ret != OK)
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err(1, "PWM_SERVO_ARM");
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continue;
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}
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if (!strcmp(arg, "disarm")) {
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ret = ioctl(fd, PWM_SERVO_DISARM, 0);
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if (ret != OK)
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err(1, "PWM_SERVO_DISARM");
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continue;
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}
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unsigned pwm_value = strtol(arg, &ep, 0);
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if (*ep == '\0') {
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ret = ioctl(fd, PWM_SERVO_SET(channel), pwm_value);
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if (ret != OK)
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err(1, "PWM_SERVO_SET(%d)", channel);
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channel++;
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continue;
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}
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usage("unrecognised option");
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}
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/* print verbose info */
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if (print_info) {
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/* get the number of servo channels */
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unsigned count;
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ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&count);
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if (ret != OK)
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err(1, "PWM_SERVO_GET_COUNT");
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/* print current servo values */
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printf("PWM output values:\n");
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for (unsigned i = 0; i < count; i++) {
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servo_position_t spos;
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ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&spos);
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if (ret == OK) {
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printf("%u: %uus\n", i, spos);
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} else {
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printf("%u: ERROR\n", i);
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}
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}
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/* print rate groups */
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printf("Available alt_channel_mask groups:\n");
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for (unsigned i = 0; i < count; i++) {
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uint32_t group_mask;
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ret = ioctl(fd, PWM_SERVO_GET_RATEGROUP(i), (unsigned long)&group_mask);
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if (ret != OK)
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break;
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if (group_mask != 0)
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printf(" 0x%x", group_mask);
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}
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printf("\n");
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fflush(stdout);
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}
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exit(0);
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}
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